Safe, dynamic and comfortable longitudinal control for an autonomous vehicle

Reschka, Andreas; Böhmer, Jürgen Rüdiger; Saust, Falko; Lichte, Bernd; Maurer, Markus

doi:10.1109/ivs.2012.6232159

Cited by 25 publications

(9 citation statements)

References 10 publications

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“…As the system is partially capable of determining its own performance, for example the quality of localization, other actions are then also possible. For example stopping at the side of the road or even on the current driving lane is feasible, continuing travel with greater distances to the vehicles ahead and with reduced speed is also possible, however, this has only been tested on test tracks [46,47].…”

Section: Safe State In Experimental Autonomous Vehiclesmentioning

confidence: 99%

Safety Concept for Autonomous Vehicles

Reschka

2016

Autonomous Driving

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Section: Safe State In Experimental Autonomous Vehiclesmentioning

confidence: 99%

Safety Concept for Autonomous Vehicles

Reschka

2016

Autonomous Driving

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“…What started as driving assist systems, such as cruise control or a lane departure warning system, expanded rapidly into advanced driving assist systems (ADAS) that are capable of stopping the vehicle in critical situations, keeping the vehicle in its own lane and regulating the vehicle velocity from 0 to 130 km/h with adaptive cruise control (cf. [ 1 , 2 , 3 ] among other references).…”

Section: Introductionmentioning

confidence: 99%

Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle

Winter

Baldi

2018

Sensors

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This work is meant to report on activities at TU Delft on the design and implementation of a path-following system for an autonomous Toyota Prius. The design encompasses: finding the vehicle parameters for the actual vehicle to be used for control design; lateral and longitudinal controllers for steering and acceleration, respectively. The implementation covers the real-time aspects via LabVIEW from National Instruments and the real-life tests. The deployment of the system was enabled by a Spatial Dual Global Positioning System (GPS) system providing more accuracy than the regular GPS. The results discussed in this work represent the first autonomous tests on the Toyota Prius at TU Delft, and we expect the proposed system to be a benchmark against which to test more advanced solutions. The tests show that the system is able to perform in real-time while satisfying comfort and trajectory tracking requirements: in particular, the tracking error was within 16 cm, which is compatible with the 13 cm precision of the Spatial Dual GPS, whereas the longitudinal and lateral acceleration are within comfort levels as defined by available experimental studies.

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“…For example, Cruise Control (CC), Adaptive Cruise Control (ACC), Collision Avoidance (CA) have been extensively researched [2]. However, the vast majority of systems proposed in literature [3][4][5][6][7] is focused on longitudinal control with minimal or no focus on lateral control. As a result, the major drawback of commercially available longitudinal control systems is the limited performance in cornering situations [8].…”

Section: Introductionmentioning

confidence: 99%